interactive marker control for hrp2
check having legs
set frame id
Merge branch 'master' into hrp2-ik-control
add arm ik and torso ik
add staro
add parameter to set menu
add staro launch file
add staro interactive marker
do not use ik server for pr2
Merge branch 'master' into hrp2-ik-control
Merge pull request #170 from tarukosu/hrp2-ik-control

Interactive marker control for HRP2 and STARO